Simulation of Robot Motion Operating in the Workcell to Specify Servomotors in its Individual Joints

Abstract:

Robots and manipulators are often part of technological workshop. Their end effectors usually repeat motion at the same path so to be the workpiece transferred and oriented into the specific position. With the definition of the servomotors and drivers in individual joints of robot, when the motion trajectory of selected point is known, is concerned part of mechanics so called inverse kinematics. The article deals with virtual simulation of robot motion as a tool that supports the research of kinematics characteristics in individual joints. Software PTC Creo was used for the computer aid of modelling and servomotors investigation. Obtained dependences of accelerations in time for each joint can be backward used at the controlling of robot motion in the real conditions.

• Periodical: Applied Mechanics and Materials (Volume 718)
• Pages: 83-87
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.718.83
• Online since: December 2014
• Authors: Katarina Monkova*, Andrea Cizikova
• Keywords: Inverse Kinematics, Robot Motion, Servomotors, Workcell

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